/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "can.h"
#include "dma.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_Tamagawa.h"
#include "bsp_adc.h"
#include "bsp_drv8353.h"
#include "LTC2990.h"
#include <stdio.h>
#include "bsp_sram.h"
#include "global_VariableDef.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
// static DRV_SPI_8353_Vars_t spi_vars;
DRV8353_Handle drv8353_handle;
circular_buffer sram_cb;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

static void Module_Init(void);
// static void Status_Upload(void);

/* USER CODE BEGIN EFP */
// void Enable_PWM_Output(void);
// void Disable_PWM_Output(void);
/* USER CODE END EFP */

DRV_SPI_8353_Vars_t spi_vars;
uint32_t count_test = 0;

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_ADC3_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_I2C1_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  MX_TIM8_Init();
  MX_UART4_Init();
  MX_USART1_UART_Init();
  MX_USART6_UART_Init();
  MX_TIM3_Init();
  MX_ADC1_Init();
  MX_TIM5_Init();
  /* USER CODE BEGIN 2 */
  HAL_TIM_Base_Start_IT(&htim3);
  CAN1_Init(&slave_Data);

  unsigned char nodeID = 0x01;                   //主站ID
  setNodeId(&slave_Data, nodeID);
  setState(&slave_Data, Initialisation);		 //节点初始化
  setState(&slave_Data, Operational);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  Module_Init();
  HAL_UART_Receive_DMA(&huart6, tg_comm.dma_rx_buf,sizeof(tg_comm.dma_rx_buf));
  huart6.Instance->CR3 &= ~USART_CR3_EIE;

  HAL_TIM_Base_Start(&htim8);
  HAL_TIM_PWM_Start(&htim8, TIM_CHANNEL_4);
  HAL_ADC_Start_DMA(&hadc3, (uint32_t *)g_invertorParam.adc_raw_values, BSP_ADC_CHANNEL_COUNT);
  __HAL_TIM_ENABLE_IT(&htim8, TIM_IT_BREAK);

  HAL_TIM_Encoder_Start(&htim5, TIM_CHANNEL_ALL);

  while (1)
  {
    showVofa();

    // count_test = __HAL_TIM_GET_COUNTER(&htim5);
    // printf("count_test:%d\r\n", count_test);
    // HAL_Delay(500);
  }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */

  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_BYPASS;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 180;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Activate the Over-Drive mode
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

static void Module_Init(void)
{
  drv8353_handle = DRV8353_init();

  bsp_Debugger_Init();

  // DRV8353_setupSpi(drv8353_handle, &spi_vars);

  // LTC2990_Init(&ltc_dev1, &hi2c1, LTC2990_DEVICE1_ADDRESS, LTC2990_TEMP_CELSIUS, SINGLE, LTC2990_MODE_REMOTE1_2_T);
  // LTC2990_Init(&ltc_dev2, &hi2c1, LTC2990_DEVICE2_ADDRESS, LTC2990_TEMP_CELSIUS, SINGLE, LTC2990_MODE_REMOTE1_2_T);

  // bsp_Can_Start(&hcan2);

  Tamagawa_Init(&huart6);
}

/*static void Status_Upload(void)
{
  float f_temp = 0, f_temp1 = 0;
  LTC2990_MeasureRemote1(&ltc_dev1, &f_temp, LTC2990_DEFAULT_IDEALITY);
  LTC2990_MeasureRemote2(&ltc_dev1, &f_temp1, LTC2990_DEFAULT_IDEALITY);
  printf("Device1 TR1: %.5f,  TR2: %.5f \r\n", f_temp, f_temp1);

  LTC2990_MeasureRemote1(&ltc_dev2, &f_temp, LTC2990_DEFAULT_IDEALITY);
  LTC2990_MeasureRemote2(&ltc_dev2, &f_temp1, LTC2990_DEFAULT_IDEALITY);
  printf("Device2 TR1: %.5f,  TR2: %.5f \r\n", f_temp, f_temp1);
}*/

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
